Two-wheel electric self-balancing scooter graded drive signal generation method
An electric balance car, graded drive technology, applied in motor vehicles, two-wheeled bicycles, bicycles, etc., can solve the problems of sensor misjudgment, driver's weight difference and failure to consider up and down road conditions, so as to increase safety and improve safety. the effect of improving the usability
Active Publication Date: 2017-05-31
宁波市大学科技园发展有限公司
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Problems solved by technology
These patents can partially solve the above problems, but there are still problems that are not considered in special cases. For example, when the balance car is moving, the pressure between the two pedals may cause sensor misjudgment due to the movement of the driver's center of gravity, and for The driver's weight difference and uphill and downhill road conditions are not considered. Therefore, the driving signal generation method of the two-wheeled electric balance vehicle needs further research
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[0018] The implementation manners of the present invention are described below through specific examples, and those skilled in the art can easily implement the content disclosed in this specification.
[0019] Such as figure 1 As shown, the present invention provides a method for generating a graded drive signal of a two-wheeled electric balance car. This method fully considers the driver’s getting on and off the car, the difference in the driver’s weight, etc., and uses the sum of the pressures of the two pedals to output the drive signal in grades. The foot switch generates the acceleration and deceleration signals for the balance car going up and down. After the two driving signals are superimposed, they are input to the controller as the target signal. The controller generates an output control signal for the motor to work through related algorithms. The hierarchical driving signal generation method generates suitable target signals for various states of the self-balancing...
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The invention provides a two-wheel electric self-balancing scooter graded drive signal generation method. Target drive signals comprise two parts, one part of the signals are drive signals output in a graded mode according to the sum of pressure of two pedals, and the other part of the signals are accelerating, slow-down and stable signals output according to a pedal switch. The gravity movement problem occurring when a driver gets on or off a vehicle and in the operation process is effectively solved according to the drive signals output in the graded mode according to the sum of the pressure of the two pedals, and the accelerating and slow-down signals adjust the drive signals for going up and down a slope. When the target drive signal is output, a sinusoidal signal smoothing method is adopted, and mutation of the signals is prevented. According to the method, the reliability of the system and the precision of drive signal output are improved, the method is simple and convenient, and the safety performance of the system is effectively improved.
Description
technical field [0001] The invention relates to a method for generating a graded drive signal of a two-wheeled electric balance car. Background technique [0002] Electric balance car, also known as somatosensory car, camera car, thinking car, etc. The operating principle of the electric balance car is mainly based on the basic principle of dynamic stability. The gyro sensor inside the car body is used to detect the change of the body posture, and then the motor is driven to make corresponding adjustments to maintain balance. [0003] Due to the complex state of the two-wheeled self-balancing vehicle, for example, at the beginning of the start, the driver puts one foot on first, and then puts on the other foot. During this process, the pressure is changing, and when getting off the car, there are also these question. And the weight of each driver is not the same, even the difference is quite large. In addition, it is different when the balance car is going uphill or downh...
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Inventor 何金保
Owner 宁波市大学科技园发展有限公司